Data Efficient Reinforcement Learning for Legged Robots

8 July 2019

Yuxiang Yang

Ken Caluwaerts

Atil Iscen

Tingnan Zhang

Jie Tan

Vikas Sindhwani

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Papers citing "Data Efficient Reinforcement Learning for Legged Robots"

33 / 33 papers shown

Title
Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning Kaixi Bao Chenhao Li Yarden As Andreas Krause Marco Hutter OffRL CLL 116 1 0 03 Feb 2025
Efficient Model-Based Reinforcement Learning Through Optimistic Thompson Sampling Jasmine Bayrooti Carl Henrik Ek Amanda Prorok 42 0 0 07 Oct 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 71 2 0 29 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 31 2 0 13 Sep 2024
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids Kento Kawaharazuka Yoshimoto Ribayashi Akihiro Miki Yasunori Toshimitsu Temma Suzuki K. Okada Masayuki Inaba 28 1 0 20 May 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 45 1 0 18 Mar 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning Jianlan Luo Zheyuan Hu Charles Xu You Liang Tan Jacob Berg Archit Sharma S. Schaal Chelsea Finn Abhishek Gupta Sergey Levine OffRL OnRL 34 41 0 29 Jan 2024
Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning Iman Askari Xumein Tu Shen Zeng Shen Zeng Huazhen Fang 21 5 0 12 Oct 2023
Quality-Diversity Optimisation on a Physical Robot Through Dynamics-Aware and Reset-Free Learning Simón C. Smith Bryan Lim Hannah Janmohamed Antoine Cully 22 0 0 24 Apr 2023
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 21 11 0 19 Dec 2022
A Simple Decentralized Cross-Entropy Method Zichen Zhang Jun Jin Martin Jägersand Jun Luo Dale Schuurmans 13 8 0 16 Dec 2022
Efficient Learning of Voltage Control Strategies via Model-based Deep Reinforcement Learning Ramij-Raja Hossain Tianzhixi Yin Yan Du Renke Huang Jie Tan Wenhao Yu Yuan Liu Qiuhua Huang 43 0 0 06 Dec 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 29 1 0 31 Oct 2022
Learning Modular Robot Visual-motor Locomotion Policies Julian Whitman Howie Choset 26 1 0 31 Oct 2022
Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes Joe Watson Jan Peters 26 15 0 07 Oct 2022
Minimizing Human Assistance: Augmenting a Single Demonstration for Deep Reinforcement Learning Abraham George Alison Bartsch A. Farimani OffRL 11 5 0 22 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 45 0 0 21 Sep 2022
World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator T. Matsushima Yukiyasu Noguchi Jumpei Arima Toshiki Aoki Yuki Okita ... Yuki Yamashita Shoichi Seto S. Gu Yusuke Iwasawa Yutaka Matsuo 32 8 0 20 Jul 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 52 277 0 28 Jun 2022
Neighborhood Mixup Experience Replay: Local Convex Interpolation for Improved Sample Efficiency in Continuous Control Tasks Ryan M Sander Wilko Schwarting Tim Seyde Igor Gilitschenski S. Karaman Daniela Rus 41 2 0 18 May 2022
Cloud-Edge Training Architecture for Sim-to-Real Deep Reinforcement Learning Hongpeng Cao Mirco Theile Federico G. Wyrwal Marco Caccamo 35 6 0 04 Mar 2022
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World Laura M. Smith J. Kew Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 33 99 0 11 Oct 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning Nitish Sontakke Sehoon Ha 30 1 0 27 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 37 2 0 26 Sep 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 23 550 0 08 Jul 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 24 66 0 20 Apr 2021
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 37 114 0 05 Dec 2020
Regret Bounds for Adaptive Nonlinear Control Nicholas M. Boffi Stephen Tu Jean-Jacques E. Slotine 41 47 0 26 Nov 2020
Safely Learning Dynamical Systems from Short Trajectories Amir Ali Ahmadi A. Chaudhry Vikas Sindhwani Stephen Tu 16 4 0 24 Nov 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 27 169 0 20 Feb 2020
Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning Tianyu Li Nathan Lambert Roberto Calandra Franziska Meier Akshara Rai 16 40 0 26 Sep 2019
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 140 928 0 07 Jul 2017
Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks Chelsea Finn Pieter Abbeel Sergey Levine OOD 359 11,684 0 09 Mar 2017